# Towards Velocity Turnpikes in Optimal Control of Mechanical Systems

arXiv: https://arxiv.org/abs/1907.01786 · HTML: https://mlsanity.com/paper/1907.01786/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Jul 2019.

## Built on by (most cited first, 1 of 1)

- [Turnpike in optimal control of PDEs, ResNets, and beyond](https://mlsanity.com/paper/2202.04097/) (2022)

## Abstract (arXiv)

The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocity steady states, which can be considered as partial steady states, and hyperbolic velocity turnpike properties for analysis and control. We show for a specific example that, for all finite horizons, both the (essential part of the) optimal solution and the orbit of the time-varying turnpike correspond to (optimal) trim solutions. Hereby, the present paper appears to be the first to combine the concepts of trim primitives and time-varying turnpike properties.